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1989 – Shinkai 6500 Submersible.

In Japanese, shinkai means deep sea. Aptly named, the Shinkai 6500 (しんかい) is a manned research submersible that can dive up to a depth of 6,500 m. It was completed in 1989 and until 2012 it had the greatest depth range of any manned research vehicle in the world. The Shinkai 6500 is owned and run by the Japan Agency for Marine-Earth Science and Technology (JAMSTEC) and it is launched from the support vessel Yokosuka.

Two pilots and one researcher operate within a 73.5 mm thick titanium pressure hull with an internal diameter of 2.0 m. Buoyancy is provided by syntactic foam.

Three 14 cm methacrylate resin view ports are arranged at the front and on each side of the vehicle. Source: Wiki.

The SHINKAI 6500, owned by Japan Agency for Marine-Earth Science and Technology, can go deeper underwater than any other manned submarine can. It uses underwater manipulators designed by SCHILLING ROBOTICS, LLC., the world's top manipulator manufacturer for underwater robots.

Schematic of Schilling manipulator arms as used by the Shinkai 6500.

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Model of the Shinkai 2000 showing a single manipulator with 6 degrees of freedom.

"SHINKAI 2000" is the first manned deep submergence research vehicle in Japan, with a maximum operating depth of 2000 m and a weight of 23t. The Vehicle was designed and constructed in Kobe Shipyard and Engine Works, MHI and was delivered to JAMSTEC in Oct. 1981 after sea trials and has now engaged in deep-sea research activities after training. This paper presents the outline of design and operation including after the delivery. presents the outline of design and operation including after the delivery.

DESIGN OF "SHINKAI 2000"

"SHINKAI 2000" (the Vehicle) is carried to the area of submergence on board "NATSUSHIMA" (the Support Ship) and is supported by her in various fields such as inspection and maintenance before and after dive, launching and retrieval, positioning, tracking and communication.

Its pressure resisting structure is composed of the ultrahigh strength steel pressure sphere accommodating the crew, three titanium alloy pressure vessels storing electronic equipment and a variable ballast tank.

Main components such as batteries, distributors, hydraulic system and motors for thrusters which are of oil-filled pressure compensated type, and syntactic foam, which compensates the vehicle weight with its buoyancy, are installed in the exostructure of pure titanium and are covered then with GRP panels.

In the pressure sphere the control console for operation and monitor by one-man control, life support equipment, etc are installed. Near the seabed, searching visually, photographing, collecting samples by the manipulator, etc, are performed while observing closely through a viewport by one-man control.

Estimated time spent in the mission of 2000 m depth is 8 hours: 1 hour for launching, 1.5 hours for diving, 3 hours for seabed research, 1.5 hours for surfacing and 1 hour for retrieval. But by skilled operation, time for seabed research can be increased by decreasing time for other phase operations.

Source: here.

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The Japanese Hakuyo Submersible was launched in 1971 and has one manipulator arm with five degrees of freedom.

Image source: Manned Submersibles, Frank Bushby, 1976.

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Launched: 1972

Manipulators: Two; one is 15 ft. long and capable of 2,500 lb lift; the second is a smaller one attached to the longer arm which is used to perform delicate operations. Installed on starboard side near centre of buoyancy. Gripping force of the large claw is 6 tons.

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The Maritime Safety Agency operates the underwater research vehicle (URV) HU06 Shinkai, with the support vessel Otome Maru. Built by Kawasaki Heavy industries. The Skinkai was commissioned in 1968.

Press Photo: The Yen400 million survey submarine is expected to be completed by the Science and Technology Agency by December 1968. The [yet] unmaned vessel, now asked how to be called to the primary and junior high school children throughout Japan, will be 49.5 feet long, and 18 feet wide, displace 85 tons and submerge to a depth of 1,980 feet, utilizing 'magic hands' and TV and other cameras.
Photo shows: The model of the unnamed Yen400 million survey submarine by the Science and Technology Agency, Japan.

1968 – Shinkai HU06 Submersible

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